#include <ros/ros.h>
#include <fyt_msg/AllTargets.h>

int main(int argc, char** argv)
{
    ros::init(argc, argv,"test_decision_node");
    ros::NodeHandle n;

    ros::Publisher pub=n.advertise<fyt_msg::AllTargets>("all_targets",1);

    fyt_msg::AllTargets all_targets;


    ros::Rate rate(10);

    while(ros::ok()){
        all_targets.len=5;

        all_targets.id[0]=9;
        all_targets.rect[0].x=60;
        all_targets.rect[0].y=20;
        all_targets.rect[0].width=100;
        all_targets.rect[0].height=80;

        all_targets.id[1]=12;
        all_targets.rect[1].x=500;
        all_targets.rect[1].y=80;
        all_targets.rect[1].width=120;
        all_targets.rect[1].height=90;
        
        all_targets.id[2]=10;
        all_targets.rect[2].x=100;
        all_targets.rect[2].y=120;
        all_targets.rect[2].width=90;
        all_targets.rect[2].height=90;

        all_targets.id[3]=13;
        all_targets.rect[3].x=300;
        all_targets.rect[3].y=200;
        all_targets.rect[3].width=200;
        all_targets.rect[3].height=150;

        all_targets.id[4]=10;
        all_targets.rect[4].x=70;
        all_targets.rect[4].y=400;
        all_targets.rect[4].width=30;
        all_targets.rect[4].height=30;

        pub.publish(all_targets);
        ros::spinOnce();
        
        rate.sleep();

    }
    return 0;
}